We warm up to workout, because we will be pushing our bodies beyond the normal limits, doing more throws, more rolling, kicking higher, punching more, etc.
In a fight, we should be able to execute our chosen moves from every angle, at any moment, regardless of how "limber" we are.
And adrenaline will only get you so far, and in some cases, works against you.

The only SD specific thing we do is occasionally our coach will whip out a training knife with no warning during sparring. And sometimes he hires homeless people to ambush us on the way out of the gym...